\usepackage{amsmath}
\usepackage{amsthm}
\usepackage{amsfonts}
\usepackage{bm}
\usepackage{graphicx}
\usepackage{subcaption}
\usepackage{accents}
\usepackage{mathtools}

\usepackage{algorithm}
\usepackage{algpseudocode}

\usepackage{url}

\newtheorem{theorem}{Theorem}[section]
\newtheorem{corollary}[theorem]{Corollary}
\newtheorem{lemma}[theorem]{Lemma}
\newtheorem{remark}[theorem]{Remark}
\newtheorem{definition}[theorem]{Definition}

% macros
\newcommand{\cost}{c}
\newcommand{\pol}{\pi}
\newcommand{\st}{\bm{x}}
\newcommand{\cst}{\bm{p}} % costate
\newcommand{\stdot}{\dot{\bm{x}}}
\newcommand{\ac}{\bm{u}}
\newcommand{\ob}{\bm{z}}
\newcommand{\ad}{\bm{d}}


\newcommand{\f}{f}
\newcommand{\h}{h} %used for measurement model
\newcommand{\J}{J}


\newcommand{\w}{\bm{\omega}} %process noise
\newcommand{\wob}{\bm{\nu}} %measurement noise
\newcommand{\W}{\Sigma_{\omega}} %measurement covar
\newcommand{\V}{\Sigma_{\nu}} %measurement noise
\newcommand{\I}{\bm{i}} %information vector


\newcommand{\ham}{\mathcal{H}} %information vector

\newcommand{\R}{\mathbb{R}}
\newcommand{\E}{\mathbb{E}}
\newcommand{\tr}{\text{tr}}


\newcommand\munderbar[1]{%
  \underaccent{\bar}{#1}}

\newcommand{\argmin}{\text{argmin}}
\newcommand{\argmax}{\text{argmax}}






